Methods and apparatus for assessing coordinate data

ABSTRACT

Methods and apparatus for assessing coordinate data are disclosed. An example apparatus includes a processor to receive coordinate data relating to a desired path and task of a vehicle. The processor of the example apparatus to determine if the coordinate data satisfies a threshold. The processor of the example apparatus to determine if the coordinate data is compatible with a positioning system of the vehicle. The processor of the example apparatus to authorize operation of the vehicle to traverse the desired path based on the coordinate data.

RELATED APPLICATIONS

This patent arises from a continuation of U.S. patent application Ser.No. 16/850,872, filed on Apr. 16, 2020, which is a continuation of U.S.patent application Ser. No. 15/861,340, filed on Jan. 3, 2018, now U.S.Pat. No. 10,648,820. U.S. patent application Ser. No. 16/850,872 andU.S. patent application Ser. No. 15/861,340 are hereby incorporatedherein by reference in their entireties.

FIELD OF THE DISCLOSURE

This disclosure relates generally to machine guidance, and, moreparticularly, to methods and apparatus for assessing coordinate data.

BACKGROUND

To operate a work machine along a desired path, guidance systems combinemap layers from various years to determine possible adjustments thatneed to be made to coordinate data in order for the work machine toproperly traverse the desired path.

SUMMARY

An example apparatus includes a processor to receive coordinate datarelating to a desired path and task of a vehicle. The processor of theexample apparatus to determine if the coordinate data satisfies athreshold. The processor of the example apparatus to determine if thecoordinate data is compatible with a positioning system of the vehicle.The processor of the example apparatus to authorize operation thevehicle to traverse the desired path based on the coordinate data.

An example method includes receiving, by executing an instruction with aprocessor, coordinate data relating to a desired path and task of avehicle. The example method also includes determining, by executing aninstruction with a processor, if the coordinate data satisfies athreshold. The example method also includes, determining, by executingan instruction with a processor, if the coordinate data is compatiblewith a positioning system of the vehicle. The example method alsoincludes, authorizing, by executing an instruction with a processor,operation of the vehicle to traverse the desired path based on thecoordinate data.

An example non-transitory computer-readable medium includes instructionsthat, when executed, cause a processor to, at least receive coordinatedata relating to a desired path and task of a vehicle, determine if thecoordinate data satisfies a threshold, determine if the coordinate datais compatible with a positioning system of the vehicle, and authorizeoperation of the vehicle to traverse the desired path based on thecoordinate data.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 represents an example environment in which the apparatus andmethods disclosed herein may be implemented.

FIG. 2 is a diagram of an apparatus that may be used to implement theexample methods described herein.

FIGS. 3-6 are example flowcharts representative of the example methodsimplemented by the apparatus described herein.

FIG. 7 is an example processor platform that may be used with theexample apparatus of FIG. 2 and/or the example methods of FIGS. 3-6 .

The figures are not to scale. In general, the same reference numberswill be used throughout the drawing(s) and accompanying writtendescription to refer to the same or like parts.

DETAILED DESCRIPTION

Machine guidance to date has not attempted seed and nutrient placement,which requires precision and accuracy to be within 1 centimeter (cm).Other than coordinate format (e.g., decimal degrees vs minutes andseconds) and gross Coordinate Reference System (CRS) (e.g., WGS-84,NAD-83, UTM, etc.), there has been minimal advancement with regard toprecise CRS consistency checking (e.g., WGS-84 datums and epochs) orother CRS attributes going into vehicle mission planning and archivaldata recording. Failure to check consistency between the CRS andaccuracy used by a vehicle positioning system and the CRS and accuracyof historical data can result in mission plans or field operations thatkill crops by placing fertilizer too close to plants or by running awork machine over crops. Failure to check the consistency of thecoordinate data can also result in reduced yields by placing fertilizertoo far from plants or seed too far from previously applied fertilizer.In one example, for construction, topography data collected by anUnmanned Ariel Vehicle (UAV) may use a different CRS than a GlobalNavigation Satellite System (GNSS) receiver on a dozer which is movingmaterial based on the UAV data. In another example, for turf care, agolf course green may have been mapped with a CRS different from the onebeing used by a greens mower for mower guidance. These examples arewithout limitation and extend the disclosed examples beyond agriculture.

Georeferenced field and worksite data has been available for over 20years with the completion of the Global Positioning System (GPS)satellite constellation. GPS uses the WGS-84 coordinate system which hashad 6 different realizations in its existence. During those 20 years,the central United States has experienced approximately 30-40 cm ofcontinental drift relative to a static geocentric coordinate system. Onan annual basis, continental drift across locations can range between 2cm to 7 cm. Other areas have had several times that amount. As such,continental drift can make maps and GPS data that has not been updatederror prone. Thus, continental drift needs to be considered in combiningmap layers and GPS data from heterogeneous sources (e.g., mixed brandfarmer equipment, agricultural service providers, aerial image providersincluding UAVs, satellites, government and private ground surveys,etc.). In some examples, historical data, particularly before the adventof high precision corrected global navigation satellite systems such asReal-Time Kinematic (RTK) GPS, may have accuracy measured in meters vs.centimeters. Thus, differences may exist in two reported latitude,longitude, and altitudes of a given point (e.g., a survey marker)arising from differences in CRS, continental drift, and positioningsensor error, for example.

The examples disclosed herein solve the above mentioned problems byensuring that the georeferenced data used in guiding an implementthrough a field, or other vehicle on a worksite, uses coordinate datathat is consistent to a level supporting the placement or operationprecision (e.g., within 0-10 cm). As used herein, the term “coordinatedata” comprises a coordinate reference system, a coordinate format, arealization, an epoch, a time of measurement, map layers, previousmission plans, positioning sensor accuracy, and a plate drift offset.

The examples disclosed herein provide an apparatus to receive coordinatedata relating to a desired path and task of a vehicle. For example, theapparatus may receive coordinate data for a path of travel the vehicleis to traverse or a mission plan that includes instructions for a workmachine. In some examples, the mission plan may include coordinate dataalong with instructions to operate certain components of the workmachine at various locations along the desired path.

When the coordinate data and/or the mission plan is received, theapparatus determines if the coordinate data satisfies a threshold. Tomaintain precision and accuracy of the work machine, the threshold iswithin 0-10 centimeters of the desired path. In some examples, failureto meet the threshold may result from an integrity check indicating thatthe coordinate reference systems are not compatible with the positioningsystem on a work machine. In other examples, the CRS of the mission andthe vehicle may be identical, but the accuracy of measurements inhistoric data used to generate the mission may be insufficient for thecurrent mission. A specific threshold may be based on a precision oraccuracy required by the particular mission and in some examples maycome from a need to accurately guide the work machine or a componentthereof to deposit a material, remove a material, or avoid an object orzone by a given distance. In some examples, the task element of amission does not add to following a planned path, i.e., it is a “null”task. In other examples, the machine is guided by a human operator, butthe mission tasks are automated to a georeferenced plan. In still otherexamples, the mission comprises both an automated plan to move the workmachine and for automated georeferenced actions to be taken along thepath including, without limitation, collecting data, depositingmaterial, moving or leveling material, removing material, andconditioning or processing material. Without limitation, material maycomprise soil, rock, sand, seed, chemicals, and/or organic matter.

In the examples disclosed herein, integrity checking may mean that thecoordinate data and/or mission plan was generated by a trusted sourcethat has already taken care of CRS consistency and has included acertificate to that effect. In some examples, a list of coordinate datafrom map layers used to generate the mission plan may be included alongwith transformations used to normalize the layers. In this example, theapparatus checks this data and transform pedigree to ensure the datasatisfies the threshold. In some examples, the precision and accuracy ofthe data source (e.g., a Global Navigation Satellite System (GNSS)sensor) for each map layer are also considered. In some examples,accuracy of the coordinate data transforms is considered. For example,if the data was transformed from NAD-83 to WGS-84, the apparatusdetermines that the resulting coordinate data from that transformationsis accurate. Other integrity checks may also be employed in addition tothe ones detailed above.

The apparatus determines if the coordinate data is compatible with apositioning system of the vehicle. For example, the coordinate data maybe in the form of NAD-83, and the apparatus determines that the NAD-83format of the coordinate data is compatible with the positioning systemof the vehicle. In some examples, the coordinate data may be in theNAD-83 CRS, but the positioning system of the vehicle is only compatiblewith the current WGS-84 CRS. In such an example, the apparatusdetermines if a transformation exists to transform the NAD-83 coordinatedata into current WGS-84 coordinate data. If a transformation exists,the apparatus transforms the coordinate data into a compatible form forthe positioning system of the vehicle.

The apparatus authorizes operation of the vehicle to traverse thedesired path based on the coordinate data. However, if the coordinatedata does not satisfy the threshold and/or is not compatible with thepositioning system of the vehicle, the apparatus inhibits operation ofthe vehicle. For example, the apparatus may disable actuators of thevehicle.

FIG. 1 represents an example environment 100 in which the apparatus andmethods disclosed herein may be implemented. The example environment 100includes an example work machine 102, which includes an exampleprocessor 104, an example GNSS sensor 106, and an example tool head 108.The example environment 100 also includes an example satellite 110, anexample base station 112, and an example server 113.

In the illustrated example, the work machine 102 is executing a missionplan. The mission plan identified a target path for the work machine 102to traverse, illustrated by line 114. However, the actual path of thework machine 102 is illustrated by line 116. Prior to operating the workmachine 102, the processor 104 analyzes the mission plan to determine ifthe coordinate data of the mission plan satisfies a threshold. Forexample, the processor 104 receives the mission plan and determines thatcoordinate data of the mission plan is up to date and is accurate withina certain range (e.g., 1 cm, 5 cm, 10 cm, etc.). As such, the processor104 initiates operation of the work machine 102 to traverse the targetpath 114. During operation of the work machine 102, updated GPS data isreceived from the satellite 110 and the base station 112. In theexamples disclosed herein, the satellite 104 may be any type ofsatellite such as a Global Positioning System (GPS) satellite, aSatellite-Based Augmentation System (SBAS) satellite, or GlobalNavigation Satellite System (GLONASS) satellite, for example. The basestation 112 of the illustrated example may be any type of base stationsuch as Real Time Kinematic (RTK) base station, or a Precise PointPositioning (PPP) base station, for example.

Alternatively, the server 113 may analyze the mission plan to determineif the coordinate data of the mission plan satisfies a threshold. Forexample, the server 113 may receive the mission plan and determine thatcoordinate data of the mission plan is up to date and is accurate withina certain range (e.g., 1 cm, 5 cm, 10 cm, etc.). As such, the server 113may then send the mission plan to the processor 104 to initiateoperation of the work machine 102 to traverse the target path 114.

The GNSS sensor 106 receives the GPS data from the satellite 110 and mayreceive corrected and/or updated GPS data from the base station 112. Forexample, the satellite 110 may send GPS data to the GNSS sensor 106 andthe base station 112 that is accurate up to 10 cm, and the base station112 may send corrected GPS data to the GNSS sensor 106 that is accurateup to 1 cm so that the actual path 116 of the work machine 102 is asclose to the target path 114 as possible. Additionally, the example GNSSsensor 106 may send signals to the base station 112 to increase theaccuracy of the GPS data.

In some examples, the example tool head 108 may increase and/or decreasethe spacing between work pieces 118 or inhibit application of fertilizerbased on data received from a mission plan. Alternatively, the tool head108 may operate the work pieces 118 if the processor 104 determines thatthe work machine 102 is off the target path 114. For example, the toolhead 108 may move the work pieces 118 to offset the distance between theactual path 116 and the target path 114.

FIG. 2 is a diagram of an apparatus 200 that may be used to implementthe example methods disclosed herein. The example apparatus 200 includesthe processor 104, which includes an example coordinate datum validator202 and an example mission planner 204. The example coordinate datumvalidator 202 includes an integrity checker 202 a, a datum transformer202 b, and a mission authorizer 202 c. The example mission planner 204includes a work machine path generator 206, work machine tool operator208, source layer datum generator 210. The example apparatus 200 alsoincludes a map layer store 212, a work machine position sensor 214 thatincludes a datum verifier 216, work machine controls 218 that includesactuators 220, an automated guidance system 222, a pneumatic transport224, and a liquid pump 226. The example apparatus 200 also includes adisplay 228 that may be wired 230 or handheld 232.

In the illustrated example, the processor 104 receives worksite maplayers from the map layer store 212. The map layer store 212 may containmap layers that are either georeferenced and/or non-georeferenced.Additionally, the map layer store 212 may contain map layers of pathsthat the work machine 102 has previously traversed. The example missionplanner 204 may receive these map layers and prepare a mission plan. Theexample work machine path generator 206 may generate a path the workmachine 102 is to traverse based on the map layers received from the maplayer store 212. For example, the work machine path generator 206 maygenerate a path that traverses the entire field so the work machine 102may plant seeds. The example work machine tool operator 208 maydetermine a rate at which nutrients are to be placed in the field. Forexample, the work machine tool operator 208 may determine a rate atwhich the work machine 102 is to plant the seeds in the field when it istraversing the path generated by the work machine path generator 206.Additionally, the work machine tool operator 208 may determine when tooperate the work machine controls 218. The example source layer datumgenerator 210 may generate a new map layer based on new mission planand/or check the accuracy of the map layers received from the map layerstore 212 to determine if there are any map layers currently in thesource layer datum generator 210 that are more accurate. Additionally,the source layer datum generator 210 may keep track of anytransformations that may have occurred to the map layers. In someexamples, the source layer datum generator 210 may transform coordinatedata to another format such as from degree-minute-second to decimaldegrees. In other examples, the source layer datum generator 210 maytransform coordinate data from a version or realization of NAD-83 to thecurrent WGS-84 version or realization.

The mission planner 204 may also receive GPS data from the work machineposition sensor 214. In some examples, the datum verifier 216 may checkreceived GPS data to ensure that it is compatible with the work machine102. Additionally or alternatively, the datum verifier 216 may perform atransformation so that received GPS data is in a compatible format forthe work machine 102. While the example datum verifier 216 is shown inthe example work machine position sensor 214, the datum verifier 216 maybe included in the processor 104 or the mission planner 204. In someexamples, the work machine position sensor 214 is the GNSS sensor 106 ofFIG. 1 .

Once the mission plan has been generated by the mission planner 204, thecoordinate datum validator 202 determines if the coordinate data in themission plan is precise and accurate (e.g., within a desired range). Insome examples, the integrity checker 202 a may perform an integritycheck on the mission plan. For example, the integrity checker 202 a maydetermine if a certificate is included in the mission plan, indicatingthat the mission was generated by a trusted source which has alreadytaken care of datum consistency. In another example, the integritychecker 202 a may analyze a list of datums from map layers used togenerate the mission from the source layer datum generator 210 alongwith transformations used to normalize the map layers. In some examples,the integrity checker 202 a checks the precision and accuracy of a datasource (e.g., a GNSS sensor) for each map layer. The precision may berelated to the number of binary digits used to represent spatial datain, for example, latitudes and longitudes. It may also be related to therepresentation of data types in transformation computations. Forexample, while one precision may be satisfactory for representinglatitude and longitude, another representation having more precision maybe needed for intermediate results of transformation calculations. Atransform may be certified to maintain a given precision and/oraccuracy. The accuracy may be related to the type of correction appliedby the work machine position sensor 214 to a raw positions, such asDifferential Correction, Wide Area Augmentation System (WAAS), and/orReal-Time Kinematic (RTK). Accuracy may also be related to operationalfactors such as the satellite constellation used in measuring positionsas represented by, for example, Dilution of Precision (DOP).

In some examples, the coordinate datum validator 202 may determine theaccuracy and compatibility of the datum transforms performed by thedatum verifier 216 and/or the source layer datum generator 210. Forexample, the datum transformer 202 b may determine if the datumtransforms are precise and accurate, and compatible with the workmachine 102. If the datum transforms are not precise and accurate and/ornot compatible with the work machine 102, the datum transformer 202 bmay perform a transformation so that received coordinate data is in acompatible format for the work machine 102. Alternatively, the datumtransformer 202 b may transform coordinate data in the mission plan toanother format. For example, the datum transformer 202 b may transformcoordinate data from NAD-83 to WGS-84.

If the coordinate datum validator 202 determines that the mission planis precise and accurate, and compatible with the work machine 102, themission authorizer 202 c authorizes operation of the work machinecontrols 218 to execute the mission plan. For example, the processor 104may send instructions to the work machine controls 218 to operate theactuators 220 to operate a tillage tool, the automated guidance system222 for a tractor, the pneumatic transport 224 for a planter or seeder,and/or the liquid pump for a fertilizer mission.

If the coordinate datum validator 202 determines that the mission planis not precise and accurate, and/or not compatible with the work machine102, the mission authorizer 202 c inhibits operation of the work machinecontrols 218 and sends an error message to the display 228 for displayto an operator of the work machine 102. For example, the processor 104may send an error message to the wired 230 display of the work machine102 to alert an operator that the mission plan is not satisfactory.Alternatively, the processor 104 may send the error message to thehandheld 232 display when the work machine 102 is an autonomous vehicle.In another example, the error message is sent simultaneously to thewired display 230 for an operator to see or hear and to a handhelddisplay 232 belonging to a supervisor.

While an example manner of implementing the processor 104 of FIG. 1 isillustrated in FIG. 2 , one or more of the elements, processes and/ordevices illustrated in FIG. 2 may be combined, divided, re-arranged,omitted, eliminated and/or implemented in any other way. Further, theexample coordinate datum validator 202, the example integrity checker202 a, the example datum transformer 202 b, the example missionauthorizer 202 c, the example mission planner 204, the example workmachine path generator 206, the example work machine tool operator 208,the example source layer datum generator 210, the example datum verifier216, and/or, more generally, the example apparatus 200 of FIG. 2 may beimplemented by hardware, software, firmware and/or any combination ofhardware, software and/or firmware. Thus, for example, any of theexample coordinate datum validator 202, the example integrity checker202 a, the example datum transformer 202 b, the example missionauthorizer 202 c, the example mission planner 204, the example workmachine path generator 206, the example work machine tool operator 208,the example source layer datum generator 210, the example datum verifier216, and/or, more generally, the example apparatus 200 of FIG. 2 couldbe implemented by one or more analog or digital circuit(s), logiccircuits, programmable processor(s), programmable controller(s),graphics processing unit(s) (GPU(s)), digital signal processor(s)(DSP(s)), application specific integrated circuit(s) (ASIC(s)),programmable logic device(s) (PLD(s)) and/or field programmable logicdevice(s) (FPLD(s)). When reading any of the apparatus or system claimsof this patent to cover a purely software and/or firmwareimplementation, at least one of the example coordinate datum validator202, the example integrity checker 202 a, the example datum transformer202 b, the example mission authorizer 202 c, the example mission planner204, the example work machine path generator 206, the example workmachine tool operator 208, the example source layer datum generator 210,the example datum verifier 216, and/or, more generally, the exampleapparatus 200 of FIG. 2 is/are hereby expressly defined to include anon-transitory computer readable storage device or storage disk such asa memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-raydisk, etc. including the software and/or firmware. Further still, theexample apparatus 200 of FIG. 2 may include one or more elements,processes and/or devices in addition to, or instead of, thoseillustrated in FIG. 2 , and/or may include more than one of any or allof the illustrated elements, processes and devices. As used herein, thephrase “in communication,” including variations thereof, encompassesdirect communication and/or indirect communication through one or moreintermediary components, and does not require direct physical (e.g.,wired) communication and/or constant communication, but ratheradditionally includes selective communication at periodic intervals,scheduled intervals, aperiodic intervals, and/or one-time events.

Flowcharts representative of example hardware logic or machine readableinstructions for implementing the apparatus 200 of FIG. 2 are shown inFIGS. 3-6 . The machine readable instructions may be a program orportion of a program for execution by a processor such as the processor712 shown in the example processor platform 700 discussed below inconnection with FIG. 7 . The program may be embodied in software storedon a non-transitory computer readable storage medium such as a CD-ROM, afloppy disk, a hard drive, a DVD, a Blu-ray disk, or a memory associatedwith the processor 712, but the entire program and/or parts thereofcould alternatively be executed by a device other than the processor 712and/or embodied in firmware or dedicated hardware. Further, although theexample program is described with reference to the flowchartsillustrated in FIGS. 3-6 , many other methods of implementing theexample apparatus 200 may alternatively be used. For example, the orderof execution of the blocks may be changed, and/or some of the blocksdescribed may be changed, eliminated, or combined. Additionally oralternatively, any or all of the blocks may be implemented by one ormore hardware circuits (e.g., discrete and/or integrated analog and/ordigital circuitry, an FPGA, an ASIC, a comparator, anoperational-amplifier (op-amp), a logic circuit, etc.) structured toperform the corresponding operation without executing software orfirmware.

As mentioned above, the example processes of FIGS. 3-6 may beimplemented using executable instructions (e.g., computer and/or machinereadable instructions) stored on a non-transitory computer and/ormachine readable medium such as a hard disk drive, a flash memory, aread-only memory, a compact disk, a digital versatile disk, a cache, arandom-access memory and/or any other storage device or storage disk inwhich information is stored for any duration (e.g., for extended timeperiods, permanently, for brief instances, for temporarily buffering,and/or for caching of the information). As used herein, the termnon-transitory computer readable medium is expressly defined to includeany type of computer readable storage device and/or storage disk and toexclude propagating signals and to exclude transmission media.

“Including” and “comprising” (and all forms and tenses thereof) are usedherein to be open ended terms. Thus, whenever a claim employs any formof “include” or “comprise” (e.g., comprises, includes, comprising,including, having, etc.) as a preamble or within a claim recitation ofany kind, it is to be understood that additional elements, terms, etc.may be present without falling outside the scope of the correspondingclaim or recitation. As used herein, when the phrase “at least” is usedas the transition term in, for example, a preamble of a claim, it isopen-ended in the same manner as the term “comprising” and “including”are open ended. The term “and/or” when used, for example, in a form suchas A, B, and/or C refers to any combination or subset of A, B, C such as(1) A alone, (2) B alone, (3) C alone, (4) A with B, (5) A with C, and(6) B with C.

The program 300 of FIG. 3 begins when the coordinate datum validator 202receives the mission plan from the mission planner 204 (block 310). Theintegrity checker 202 a then checks the coordinate system integrity(block 320). For example, the integrity checker 202 a may determine ifthe coordinate data in the mission plan includes a certificateindicating that the coordinate data has been checked for consistency bya trusted source. It is then determined if the mission coordinateintegrity was confirmed (block 330). For example, the integrity checker202 a determines if there is a certificate. If the mission coordinateintegrity is not confirmed, the mission authorizer 202 c inhibits themachine mission (block 360). However, if the integrity checker 202 aconfirms the mission coordinate integrity, the process proceeds to block340 to determine if the mission and machine coordinates are compatible.For example, the datum transformer 202 b determines if the coordinatedata is in a compatible format with the work machine 102, or if there isa transformation that exists to transform the coordinate data into acompatible format. In another example, the integrity checker 202 achecks the datum of the mission with the datum used by the work machine102. If the mission and machine coordinates are not compatible, themission authorizer 202 c inhibits the machine mission at block 360. Ifthe mission and machine coordinates are compatible, the work machine 102performs the mission (block 350). The process 300 ends.

The program 400 illustrates an example process that may take place at aback office instead of the work machine 102, for example. The program400 begins when the mission planner 204 receives data layer coordinatedata (block 410). For example, the program begins when the missionplanner 204 receives map layer data from the map layer store 212. It isthen determined if the coordinate integrity is confirmed (block 420).For example, the integrity checker 202 a determines if the coordinatedata is precise and accurate (e.g., within a certain range). If thecoordinate integrity is confirmed, the mission planner 204 generates amission (block 430). If the coordinate integrity is not confirmed, themission authorizer 202 c instructs the display of an error message(block 440). For example, the processor 104 may send an error message toa handheld 232 display of an operator generating the mission. Theprogram 400 ends. In some examples, the program 400 may include anadditional step of attaching documentation to the mission (block 450).For example, the documentation may be a certificate indicating that atrusted source checked the coordinate data for consistency. Theprocessor 104 then transfers the mission to the work machine 102 (block460). The program 400 ends.

The program 500 begins when the processor 104 receives coordinate datarelating to a desired path and/or task of a vehicle (block 510). Theintegrity checker 202 a determines if the coordinate data satisfies athreshold (block 520). For example, the integrity checker 202 adetermines if the coordinate data is precise and accurate and performsan integrity check for CRS. In some examples, the threshold comprisesboth a threshold for accuracy and an integrity for CRS. In anotherexample, the integrity checker 202 a may determine if the coordinatedata satisfies a mission accuracy threshold relating to data andtransforms, and a mission integrity check relating to CRS. If thecoordinate data does not satisfy the threshold, the mission authorizer202 c inhibits operation of the vehicle (block 570). If the coordinatedata does satisfy the threshold, it is then determined if the coordinatedata is compatible with the positioning system of the vehicle (block530). For example, the datum transformer 202 b determines if thecoordinate data is compatible with the work machine 102. If thecoordinate data is compatible with the positioning system of thevehicle, the mission authorizer 202 c operates the vehicle to traversethe desired path (block 560). For example, the mission authorizer 202 cauthorizes the operation of the work machine 102. If the coordinate datais not compatible with the positioning system of the vehicle, it isdetermined if a transformation is available to transform the coordinatedata to a compatible coordinate system (block 540). If no transformationis available, the mission authorizer 202 c inhibits operation of thevehicle (block 570). If a transformation is available, the datumtransformer 202 b transforms the coordinate data to a compatiblecoordinate system (block 550). The mission authorizer 202 c thenoperates the vehicle to traverse the desired path (block 560). Forexample, the mission authorizer 202 c authorizes the operation of thework machine 102. The program 500 ends.

The program 600 begins when the processor 104 receives coordinate data(block 610). The integrity checker 202 a, determines if the coordinatedata satisfies a threshold (block 620). For example, the integritychecker 202 a determines if the coordinate data is precise and accurateand performs an integrity check for CRS. If the coordinate data does notsatisfy the threshold, the mission authorizer 202 c displays an errormessage (block 660). For example, the mission authorizer 202 c sends anerror message for display. If the coordinate data satisfies thethreshold, the work machine path generator 206 generates a desired pathof a vehicle, or component thereof, based on the coordinate data (block630). The source layer datum generator 210 then generates verificationdata for the desired path of the vehicle (block 640). The processor 104then sends the desired path of the vehicle and the verification data tothe vehicle (block 650). The program 600 ends.

FIG. 7 is a block diagram of an example processor platform 700structured to execute the instructions of FIGS. 3-6 to implement theapparatus 200 of FIG. 2 . The processor platform 700 can be, forexample, a server, a personal computer, a workstation, a self-learningmachine (e.g., a neural network), a mobile device (e.g., a cell phone, asmart phone, a tablet such as an iPad™), a personal digital assistant(PDA), an Internet appliance, a DVD player, a CD player, a digital videorecorder, a Blu-ray player, a gaming console, a personal video recorder,a set top box, a headset or other wearable device, or any other type ofcomputing device.

The processor platform 700 of the illustrated example includes aprocessor 712. The processor 712 of the illustrated example is hardware.For example, the processor 712 can be implemented by one or moreintegrated circuits, logic circuits, microprocessors, GPUs, DSPs, orcontrollers from any desired family or manufacturer. The hardwareprocessor may be a semiconductor based (e.g., silicon based) device. Inthis example, the processor implements the processor 104 and/or theapparatus 200.

The processor 712 of the illustrated example includes a local memory 713(e.g., a cache). The processor 712 of the illustrated example is incommunication with a main memory including a volatile memory 714 and anon-volatile memory 716 via a bus 718. The volatile memory 714 may beimplemented by Synchronous Dynamic Random Access Memory (SDRAM), DynamicRandom Access Memory (DRAM), RAMBUS® Dynamic Random Access Memory(RDRAM®) and/or any other type of random access memory device. Thenon-volatile memory 716 may be implemented by flash memory and/or anyother desired type of memory device. Access to the main memory 714, 716is controlled by a memory controller.

The processor platform 700 of the illustrated example also includes aninterface circuit 720. The interface circuit 720 may be implemented byany type of interface standard, such as an Ethernet interface, auniversal serial bus (USB), a Bluetooth® interface, a near fieldcommunication (NFC) interface, and/or a PCI express interface.

In the illustrated example, one or more input devices 722 are connectedto the interface circuit 720. The input device(s) 722 permit(s) a userto enter data and/or commands into the processor 712. The inputdevice(s) can be implemented by, for example, an audio sensor, amicrophone, a camera (still or video), a keyboard, a button, a mouse, atouchscreen, a track-pad, a trackball, isopoint and/or a voicerecognition system.

One or more output devices 724 are also connected to the interfacecircuit 720 of the illustrated example. The output devices 724 can beimplemented, for example, by display devices (e.g., a light emittingdiode (LED), an organic light emitting diode (OLED), a liquid crystaldisplay (LCD), a cathode ray tube display (CRT), an in-place switching(IPS) display, a touchscreen, etc.), a tactile output device, a printerand/or speaker. The interface circuit 720 of the illustrated example,thus, typically includes a graphics driver card, a graphics driver chipand/or a graphics driver processor.

The interface circuit 720 of the illustrated example also includes acommunication device such as a transmitter, a receiver, a transceiver, amodem, a residential gateway, a wireless access point, and/or a networkinterface to facilitate exchange of data with external machines (e.g.,computing devices of any kind) via a network 726. The communication canbe via, for example, an Ethernet connection, a digital subscriber line(DSL) connection, a telephone line connection, a coaxial cable system, asatellite system, a line-of-site wireless system, a cellular telephonesystem, etc.

The processor platform 700 of the illustrated example also includes oneor more mass storage devices 728 for storing software and/or data.Examples of such mass storage devices 728 include floppy disk drives,hard drive disks, compact disk drives, Blu-ray disk drives, redundantarray of independent disks (RAID) systems, and digital versatile disk(DVD) drives.

The machine executable instructions 300, 400, 500, and 600 of FIGS. 3-6may be stored in the mass storage device 728, in the volatile memory714, in the non-volatile memory 716, and/or on a removablenon-transitory computer readable storage medium such as a CD or DVD.

From the foregoing, it will be appreciated that example methods,apparatus and articles of manufacture have been disclosed that assesscoordinate data. The examples disclosed herein provide an accurate andsafe way to evaluate the increasing number of data received from varioussources. The examples disclosed herein provide accuracy within a rangeof 0-10 cm. This beneficial because known coordinate data for on-highwayvehicles is implemented with a tolerance of up to 30 feet. Using thattype of coordinate data for agricultural purposes would destroy crops.Additionally, the examples disclosed herein maintain the accuracy oftransformed coordinate data so that it may be utilized with other workmachines.

Although certain example methods, apparatus and articles of manufacturehave been disclosed herein, the scope of coverage of this patent is notlimited thereto. On the contrary, this patent covers all methods,apparatus and articles of manufacture fairly falling within the scope ofthe claims of this patent.

What is claimed is:
 1. An apparatus comprising: memory; and a processorto: receive coordinate data relating to a worksite; determine if thecoordinate data satisfies an integrity threshold; generate a missionplan for a vehicle to perform a desired task based on the coordinatedata; generate verification data for the mission plan; and transmit themission plan and the verification data to a server, the server toauthorize operation of the vehicle to perform the desired task.
 2. Theapparatus of claim 1, wherein the processor is to inhibit the operationof the vehicle in response to the coordinate data not satisfying theintegrity threshold.
 3. The apparatus of claim 2, wherein inhibiting theoperation of the vehicle includes disabling operation of actuators ofthe vehicle.
 4. The apparatus of claim 1, wherein the integritythreshold is based on at least one of a certification, a pedigree of thecoordinate data, or a position sensor accuracy.
 5. The apparatus ofclaim 4, wherein the processor is to verify the position sensor accuracyby verifying accuracy of a measurement from a Global NavigationSatellite System sensor.
 6. The apparatus of claim 1, wherein theprocessor is to adjust the coordinate data in response to the coordinatedata not being compatible with a positioning system of the vehicle. 7.The apparatus of claim 6, wherein adjusting the coordinate data includestransforming the coordinate data to a coordinate system compatible withthe positioning system.
 8. A method comprising: receiving, by executinginstructions with a processor, coordinate data relating to a worksite;determining, by executing the instructions with the processor, whetherthe coordinate data satisfies an integrity threshold; generating, byexecuting the instructions with the processor, a mission plan for avehicle to perform a desired task based on the coordinate data;generating, by executing the instructions with the processor,verification data for the mission plan; and transmitting, by executingthe instructions with the processor, the mission plan and theverification data to a server, the server to authorize operation of thevehicle to perform the desired task.
 9. The method of claim 8, furtherincluding inhibiting, by executing the instructions with the processor,the operation of the vehicle in response to the coordinate data notsatisfying the integrity threshold.
 10. The method of claim 9, whereininhibiting the operation of the vehicle includes disabling, by executingthe instructions with the processor, operation of actuators of thevehicle.
 11. The method of claim 8, wherein the integrity threshold isbased on at least one of a certification, a pedigree of the coordinatedata, or a position sensor accuracy.
 12. The method of claim 11, furtherincluding verifying, by executing the instructions with the processor,the position sensor accuracy by verifying accuracy of a measurement froma Global Navigation Satellite System sensor.
 13. The method of claim 8,further including adjusting, by executing the instructions with theprocessor, the coordinate data in response to the coordinate data notbeing compatible with a positioning system of the vehicle.
 14. Themethod of claim 13, wherein adjusting the coordinate data includestransforming, by executing the instructions with the processor, thecoordinate data to a coordinate system compatible with the positioningsystem.
 15. A non-transitory computer readable medium comprisinginstructions that, when executed, cause a processor to at least: receivecoordinate data relating to a worksite; determine if the coordinate datasatisfies an integrity threshold; generate a mission plan for a vehicleto perform a desired task based on the coordinate data; generateverification data for the mission plan; and transmit the mission planand the verification data to a server, the server to authorize operationof the vehicle to perform the desired task.
 16. The non-transitorycomputer readable medium of claim 15, wherein the instructions, whenexecuted, further cause the processor to inhibit, in response to thecoordinate data not satisfying the integrity threshold, the operation ofthe vehicle by disabling operation of actuators of the vehicle.
 17. Thenon-transitory computer readable medium of claim 15, wherein theintegrity threshold is based on at least one of a certification, apedigree of the coordinate data, or a position sensor accuracy.
 18. Thenon-transitory computer readable medium of claim 17, wherein theinstructions, when executed, further cause the processor to verify theposition sensor accuracy by verifying accuracy of a measurement from aGlobal Navigation Satellite System sensor.
 19. The non-transitorycomputer readable medium of claim 15, wherein the instructions, whenexecuted, further cause the processor to adjust the coordinate data inresponse to the coordinate data not being compatible with a positioningsystem of the vehicle.
 20. The non-transitory computer readable mediumof claim 19, wherein the instructions, when executed, further cause theprocessor to transform the coordinate data to a coordinate systemcompatible with the positioning system.